/*
 * Copyright (C) 2011 Google Inc.
 * 
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 * 
 * http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */

package pl.edu.agh.ros.proxy;

import org.apache.commons.logging.Log;
import org.ros.message.MessageListener;
import org.ros.node.DefaultNodeFactory;
import org.ros.node.Node;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMain;
import org.ros.node.topic.Subscriber;

/**
 * This is a simple rosjava {@link Subscriber} {@link Node}. It assumes an
 * external roscore is already running.
 * 
 * @author damonkohler@google.com (Damon Kohler)
 */
public class Listener implements NodeMain {

	private Node node;

	@Override
	public void main(NodeConfiguration configuration) {
		try {
			node = new DefaultNodeFactory().newNode("listener", configuration);
			final Log log = node.getLog();
			node.newSubscriber("chatter", "std_msgs/String",
					new MessageListener<org.ros.message.std_msgs.String>() {
						@Override
						public void onNewMessage(
								org.ros.message.std_msgs.String message) {
							log.info("I heard: \"" + message.data + "\"");
						}
					});
		} catch (Exception e) {
			if (node != null) {
				node.getLog().fatal(e);
			} else {
				e.printStackTrace();
			}
		}
	}

	@Override
	public void shutdown() {
		node.shutdown();
	}

}
